A dislocation mechanism and arc-shaped steel end plate welding device

Abstract

The application relates to the technical field of arc-shaped steel processing, in particular to a displacement mechanism and an arc-shaped steel end plate welding device, the displacement mechanism comprising a bottom support, a disc, a rotary driving assembly, a clamping assembly and a positioning assembly, the disc being rotationally arranged on the bottom support, the disc being provided with an open slot, the open slot being communicated with the circumferential surface of the disc; the rotary driving assembly is installed on the bottom support and is configured to drive the disc to rotate around the axis thereof; the clamping assembly is installed on the disc and is configured to clampingly hold the arc-shaped steel; the positioning assembly is installed on the disc and comprises a first state of being close to the open slot to position the end of the arc-shaped steel and a second state of being far away from the open slot. The above-mentioned displacement mechanism can position the arc-shaped steel, cooperate with a welding mechanism to weld the arc-shaped steel end plate, and improve the welding efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of arc-shaped steel processing, and particularly relates to a shifting mechanism and an arc-shaped steel end plate welding device. BACKGROUND

[0002] The shifting machine device is a special welding auxiliary device, which can cooperate with a welding robot to perform welding work. The shifting machine device is mainly suitable for welding shifting of workpiece welding seam ship type work to obtain an ideal processing position and welding speed.

[0003] We can know that the welding robot can complete the welding work through a preprogrammed program control. Therefore, the welding robot has high precision requirements for the distance between the arc-shaped steel and the welding robot. Once the arc-shaped steel welding end deviates from the preset welding station of the welding robot, the welding work of the welding robot is difficult to perform. The current shifting machine lacks a structure for positioning the arc-shaped steel, and it is difficult to cooperate with the existing welding robot to realize the arc-shaped steel end plate welding work, and the welding efficiency is low. SUMMARY

[0004] One of the purposes of the present application is to provide a shifting mechanism which can position the end part of the arc-shaped steel, keep the distance between the end part of the arc-shaped steel and the shifting mechanism consistent, facilitate the cooperation with the welding mechanism to perform the steel end plate welding work, and improve the welding efficiency.

[0005] To achieve this purpose, the present application adopts the following technical solutions:

[0006] A shifting mechanism, comprising a bottom support, a disc, a rotary driving assembly, a clamping assembly and a positioning assembly, the disc is rotationally arranged on the bottom support, the disc is provided with an open slot, the open slot is in communication with the circumferential surface of the disc; the rotary driving assembly is installed on the bottom support and is configured to drive the disc to rotate around its own axis; the clamping assembly is installed on the disc and is configured to clamp the arc-shaped steel; the positioning assembly is installed on the disc and comprises a first state of being close to the open slot to position the end part of the arc-shaped steel and a second state of being away from the open slot.

[0007] Preferably, the clamping assembly comprises a first clamping plate, a second clamping plate and a first driving member, the first clamping plate and the second clamping plate are respectively located on both sides of the open slot and are arranged in parallel with the open slot, and the first driving member is configured to drive the first clamping plate and the second clamping plate to move towards or away from each other.

[0008] As preferred, the clamping assembly further comprises a driving gear, a driven gear, a first connecting rod and a second connecting rod, the driving gear, the driven gear, the first connecting rod and the second connecting rod are all rotationally connected with the disc, the driving gear is meshingly connected with the driven gear, the driving gear and the first connecting rod are respectively rotationally connected with the first end and the second end of the first clamping plate, the first clamping plate is eccentrically connected with the driving gear; the driven gear and the second connecting rod are respectively rotationally connected with the first end and the second end of the second clamping plate, the second clamping plate is eccentrically connected with the driven gear, the first driving member is hingedly connected on the disc, and the output end thereof is rotationally connected with the first connecting rod.

[0009] As preferred, the clamping assembly further comprises a guard plate, the opposite sides of the first clamping plate and the second clamping plate are both provided with the guard plate, the first end of the guard plate is bent away from the other guard plate, and the second end of the guard plate is bent towards the other guard plate.

[0010] As preferred, the positioning assembly is arranged on the side of the disc away from the opening of the opening slot, and comprises a power arm, a positioning roller, an abutting plate and a third driving member, the first end of the power arm is hingedly connected with the disc, the second end of the power arm is connected with the positioning roller, the positioning roller can rotate around its own axis, the abutting plate is arranged on the side of the power arm facing the opening slot and is perpendicular to the opening slot, the positioning roller and the third driving member are respectively located on the two sides of the abutting plate, and the output end of the third driving member is connected with the power arm and is configured to drive the power arm to rotate around the first end of the power arm.

[0011] As preferred, the clamping assembly is located inside the disc, and the displacement mechanism further comprises a guide assembly arranged on the side of the disc away from the positioning assembly, the guide assembly comprises two guide rollers parallel to the opening slot, and the guide rollers can rotate around their own axes.

[0012] Another object of the present application is to provide an arc-shaped steel end plate welding device, which comprises a walking bottom beam, two walking trolleys, a welding mechanism and a displacement mechanism as described above, the two walking trolleys are arranged on the walking bottom beam, the welding mechanism and the displacement mechanism are both arranged in two groups and are symmetrically arranged on the two walking trolleys.

[0013] As preferred, the device further comprises a carrying robot, the carrying robot is arranged in two groups and is fixedly connected with the two walking trolleys to move with the walking trolleys.

[0014] As preferred, the carrying robot comprises a robot body and a grabbing assembly, the grabbing assembly is used for grabbing end plates, and the grabbing assembly is flexibly connected with the robot body.

[0015] Preferably, the walking trolley comprises a trolley body, a fourth driving member and a walking sprocket, the walking bottom beam is provided with a walking chain matched with the walking sprocket, the output end of the fourth driving member is connected with the walking sprocket, and the fourth driving member is flexibly connected with the trolley body.

[0016] The position changing mechanism in the present application can clamp and overturn the section steel, weld the section steel from different angles, and position the end of the section steel through the positioning assembly, so that the distance between the end of the section steel and the position changing mechanism is kept consistent; when the positioning mechanism cooperates with the welding mechanism to weld the end plate of the section steel, the welding mechanism, which moves together with the positioning mechanism, has the same distance to the end of the section steel as the preset distance, so that the welding mechanism can weld the end plate of the section steel according to the preset degree, complete the welding work, and improve the welding efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a top view of the arc-shaped steel welding device in the embodiment of the present application;

[0018] Figure 2 is a side view of the position changing mechanism in the embodiment of the present application;

[0019] Figure 3 is a front view of the position changing mechanism in the embodiment of the present application;

[0020] Figure 4 is a rear view of the position changing mechanism in the embodiment of the present application;

[0021] Figure 5 is a schematic view of the internal structure of the position changing mechanism in the embodiment of the present application;

[0022] Figure 6 is a sectional view along the direction of E-E in figure Figure 4

[0023] Figure 7

[0024] Figure 8 is a view of M in figure Figure 7

[0025] Figure 9 is a view of N in figure Figure 8

[0026] Figure 10 is a schematic view of the structure of the walking trolley provided with the welding mechanism, the carrying mechanism and the position changing mechanism;

[0027] Figure 11 is an enlarged schematic view of P in figure Figure 10 ​​​​​

[0028] Figure 12 is Figure 10 Amplification structure schematic diagram at Q in the middle;

[0029] Figure 13 is Figure 10 Top view of

[0030] Figure 14 is the displacement angle diagram of the displacement mechanism during the welding operation of the arc-shaped steel end plate.

[0031] In the figure:

[0032] 10, displacement mechanism, 11, base support; 111, limiting plate; 12, disc; 121, open slot; 13, clamping assembly; 131, first clamping plate; 132, second clamping plate; 133, first driving piece; 134, driving gear; 135, driven gear; 136, first connecting rod; 137, second connecting rod; 138, guard plate; 14, rotary driving assembly; 141, supporting roller; 142, second driving piece; 143, rotary sprocket; 144, rotary chain; 15, positioning assembly; 151, power arm; 1511, mounting plate; 1512, connecting plate; 152, abutting plate; 153, positioning roller; 154, third driving piece; 16, guide assembly; 161, guide roller; 162, supporting roller sliding block;

[0033] 20, welding mechanism; 21, welding robot; 22, welding robot welding machine; 23, welding robot control cabinet; 24, support plate;

[0034] 30, carrying mechanism; 31, support frame; 32, carrying robot; 321, robot main body; 322, grabbing assembly; 323, first flexible connecting assembly; 3231, mounting seat; 3232, flexible connecting plate; 3233, connecting rod; 3234, nylon pad; 3235, first buffer spring; 3236, first nut; 33, carrying robot control cabinet;

[0035] 40, walking trolley; 41, trolley main body; 42, fourth driving piece; 43, composite roller assembly; 44, walking sprocket; 45, second flexible connecting assembly; 451, transition plate; 452, second nut; 453, screw rod; 454, second buffer spring;

[0036] 50, walking bottom beam; 51, ground rail; 52, forklift channel steel; 53, walking chain. DETAILED DESCRIPTION

[0037] The application will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are intended to be merely exemplary of the application and that the application is not limited to such exemplary embodiments. It should also be noted that, for the purpose of clarity, not all of the structures of the application are shown in the drawings.

[0038] In the description of the present application, unless specifically defined and limited otherwise, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] In the present application, unless specifically defined and limited otherwise, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0040] In the description of the present embodiment, the terms "up", "down", "left", "right", and other orientation or position relationships are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0041] In the arc-shaped steel end plate welding operation, generally one set of positioners is arranged at both ends of the arc-shaped steel to ensure that the arc-shaped steel as a whole can rotate when needed, and in order to improve the welding efficiency, a set of welding mechanism is arranged at both ends of the arc-shaped steel, and the welding mechanism welds the end plate on the end face of the arc-shaped steel according to the preset programming program. The premise for the operation to proceed smoothly is that the two ends of the arc-shaped steel can accurately correspond to the preset welding station of the welding mechanism. That is, the distance between the end of the arc-shaped steel and the welding mechanism should be consistent with the preset distance.

[0042] Based on this, the application provides an arc-shaped steel end plate welding device, which can position the position of the end of the arc-shaped steel relative to the welding mechanism 20, so that when welding the arc-shaped steel end plate in batches, the distance between the welding mechanism 20 and the end of the arc-shaped steel is kept at a preset distance, and then the welding mechanism 20 can weld the end plate on the end face of the arc-shaped steel according to the preset program without reprogramming.

[0043] Figures 1-13 As shown in the arc-shaped steel end plate welding device in one embodiment of the application, the arc-shaped steel end plate welding device comprises a walking bottom beam 50, a walking trolley 40, a displacement mechanism 10 and a welding mechanism 20, wherein the walking trolley 40, the displacement mechanism 10 and the welding mechanism 20 are provided in two groups, each group of walking trolleys 40 is provided with a group of displacement mechanisms 10 and a group of welding mechanisms 20, the displacement mechanisms 10 and the welding mechanisms 20 on the two groups of walking trolleys 40 are symmetrically arranged, the two groups of walking trolleys 40 move reciprocatingly on the walking bottom beam 50 along the extension direction of the walking bottom beam 50 to drive the displacement mechanisms 10 and the welding mechanisms 20 to move together, the displacement mechanism 10 is provided with a positioning assembly 15, when the positioning assembly 15 contacts the arc-shaped steel, the walking trolley 40 stops moving, at this time, the distance between the welding mechanism 20 and the end of the arc-shaped steel is the same as the preset distance, the welding mechanism 20 welds the end plate on the end face of the arc-shaped steel according to the preset degree, and the welding efficiency is high.

[0044] Reference Figures 2-9 As shown, the displacement mechanism 10 comprises a bottom support 11, a disc 12, a clamping assembly 13, a rotary driving assembly 14 and a positioning assembly 15, wherein the disc 12 is rotationally arranged on the bottom support 11, the disc 12 is provided with an open slot 121 for the arc-shaped steel to pass through, the open slot 121 is in communication with the circumferential surface of the disc 12, the rotary driving assembly 14 is installed on the bottom support 11 and is configured to drive the disc 12 to rotate on the bottom support 11 about the axis thereof, the clamping assembly 13 is installed on the disc 12 and is used for clamping the arc-shaped steel, and the positioning assembly 15 is installed on the disc 12 and is used for positioning the end of the arc-shaped steel. It should be emphasized that, in order to avoid interference of the positioning assembly 15 when the end of the arc-shaped steel is machined or fed, the positioning assembly 15 is movably connected with the disc 12, including a first state close to the open slot 121 for positioning the arc-shaped steel and a second state away from the open slot 121.

[0045] For example, the entire disc 12 is hollow, the clamping assembly 13 is located inside the disc 12, and the clamping assembly 13 comprises a first clamping plate 131 and a second clamping plate 132, the first clamping plate 131 and the second clamping plate 132 are respectively located on the two sides of the open slot 121 and are arranged in parallel with the open slot 121, and the first clamping plate 131 and the second clamping plate 132 can move close to or away from each other to clamp or release the arc-shaped steel.

[0046] In order to realize the centering and clamping of the arc-shaped steel, the first clamping plate 131 and the second clamping plate 132 need to move simultaneously. In the embodiment, the first clamping plate 131 and the second clamping plate 132 are in transmission connection, one of the first clamping plate 131 and the second clamping plate 132 is connected with the first driving member 133, under the action of the first driving member 133, the first clamping plate 131 or the second clamping plate 132 connected with the first driving member 133 can move towards or away from the opening slot 121, and the moving power is transmitted to the second clamping plate 132 or the first clamping plate 131, so that the first clamping plate 131 and the second clamping plate 132 move synchronously towards or away from each other.

[0047] Taking the connection of the first driving member 133 and the first clamping plate 131 as an example, the first driving member 133 can be a pneumatic cylinder or an oil cylinder. The clamping assembly 13 further comprises a driving gear 134, a driven gear 135, a first connecting rod 136 and a second connecting rod 137, the driving gear 134 and the driven gear 135 are in rotation connection with the disc 12 through a gear shaft, the first connecting rod 136 and the second connecting rod 137 are in rotation connection with the disc 12 through a connecting rod shaft, the driving gear 134 is in meshing connection with the driven gear 135, the driving gear 134 and the first connecting rod 136 are in rotation connection with the first end and the second end of the first clamping plate 131 respectively, and the first clamping plate 131 is eccentrically connected with the driving gear 134; the driven gear 135 and the second connecting rod 137 are in rotation connection with the first end and the second end of the second clamping plate 132 respectively, and the second clamping plate 132 is eccentrically connected with the driven gear 135, the first driving member 133 is rotationally arranged on the disc 12, and the output end thereof is in rotation connection with the first connecting rod 136. The whole clamping assembly 13 can be regarded as two groups of transmission connection four connecting rod structures, the distance between the rotation joint point of the first clamping plate 131 and the gear shaft of the driving gear 134 is equal to the distance between the rotation joint point of the first clamping plate 131 and the connecting rod shaft of the first connecting rod 136, the distance between the rotation joint point of the second clamping plate 132 and the gear shaft of the driven gear 135 is equal to the distance between the rotation joint point of the second clamping plate 132 and the connecting rod shaft of the second connecting rod 137, and then the first clamping plate 131 and the second clamping plate 132 always keep parallel during the movement. In the embodiment, in order to save installation space and reduce the size of the disc 12, the driving gear 134 and the driven gear 135 are both fan-shaped gears.

[0048] More specifically, in order to avoid damage to the arc-shaped steel surface caused by the first and second clamping plates 131 and 132, the opposite side of the first and second clamping plates 131 and 132 is provided with a guard plate 138, the first end of the guard plate 138 passes out of the disc 12 and is bent away from the other guard plate 138, facilitating the arc-shaped steel into the open slot 121, the second end of the guard plate 138 is bent towards the other guard plate 138, which can limit the arc-shaped steel, avoid the arc-shaped steel contacting the driving gear 134 and the driven gear 135 located inside the disc 12, and affect the meshing transmission between the driving gear 134 and the driven gear 135.

[0049] In order to adapt to the rotation of the disc 12 around its own axis, the top of the base 11 is provided with a circular arc-shaped accommodation groove matching the shape of the disc 12, the disc 12 is placed in the accommodation groove, and the central angle corresponding to the accommodation groove is less than 180°, so as to ensure that the disc 12 can at least rotate 180° on the base 11. Moreover, the circumferential sides of the base 11 are also provided with limiting plates 111, during the rotation of the disc 12, the abutment of the guard plate 138 and the limiting plate 111 can limit the disc 12 from continuing to rotate in the same direction, avoiding excessive rotation of the disc 12. The rotation driving assembly 14 is arranged in the accommodation groove, including a supporting roller 141 and a second driving member 142, wherein the supporting roller 141 is spaced apart along the circumference of the accommodation groove and is rotatably connected with the base 11, for supporting the disc 12, and the output end of the second driving member 142 is connected with the disc 12 to drive the disc 12 to rotate. Exemplarily, the second driving member 142 is a rotary motor, the output end of the rotary motor is connected with a speed reducer, a rotary sprocket 143 is arranged on the output shaft of the speed reducer, the walking sprocket 44 shafts of the rotary sprocket 143 are respectively provided with a spacer and a gland for preventing axial movement of the rotary sprocket 143, and a rotary chain 144 is wound on the rotary sprocket 143. The rotary chain 144 is arranged along the outer periphery of the disc 12 and is fixed at the circumferential surface of the disc 12 at both ends. It can be understood that the rotary chain 144 is arranged on the circumferential surface of the disc 12 protruding from the base 11, so as to avoid interference of the supporting roller 141 with the movement of the rotary chain 144.

[0050] Reference Figure 3As shown, the positioning assembly 15 is arranged on the side of the disc 12 away from the opening slot 121, and includes a power arm 151, a positioning roller 153, an abutting plate 152, and a third driving member 154. The abutting plate 152 is arranged on the side of the power arm 151 facing the opening slot 121 and is perpendicular to the opening slot 121. The positioning roller 153 and the third driving member 154 are respectively arranged on the two sides of the abutting plate 152. The positioning roller 153 is rotatable about its own axis. The first end of the power arm 151 is hingedly connected to the disc 12, and the second end is connected to the positioning roller 153. The output end of the third driving member 154 is connected to the power arm 151, and is configured to drive the power arm 151 to rotate about the first end of the power arm 151, so as to drive the positioning roller 153 and the abutting plate 152 to move. The third driving member 154 can be a pneumatic cylinder or an oil cylinder.

[0051] Specifically, referring to Figures 7-9 As shown, the power arm 151 includes two mounting plates 1511 and two connecting plates 1512. The two mounting plates 1511 are parallel to the abutting plate 152, and are rotatably arranged on the disc 12 by a through shaft. A bearing is sleeved on the through shaft and fixedly connected to the mounting plate 1511. A pressing plate is arranged on the mounting plate 1511 and abuts against the through shaft, so as to axially and circumferentially fix the through shaft. The two connecting plates 1512 are arranged on the opposite sides of the mounting plate 1511 perpendicular to the abutting plate 152 and abut against the side of the abutting plate 152 away from the disc 12. The positioning roller 153 is rotatably connected to the two connecting plates 1512 by a positioning roller shaft. A bearing and a bearing spacer sleeve are sleeved on the positioning roller shaft. Meanwhile, a pressing plate is fixedly arranged on the connecting plate 1512 and abuts against the positioning roller shaft, so as to axially and circumferentially fix the positioning roller shaft. The output end of the third driving member 154 is provided with a fish-eye joint, and a fish-eye joint shaft is inserted into the fish-eye joint and fixedly connected to the two mounting plates 1511.

[0052] The displacement mechanism 10 further includes a guide assembly 16 arranged on the side of the disc 12 away from the positioning assembly 15, for guiding the arc-shaped steel to walk when the arc-shaped steel is arranged in the opening slot 121. The arc-shaped steel enters from the side of the disc 12 where the guide assembly 16 is arranged, and then exits from the side where the positioning assembly 15 is arranged. The guide assembly 16 includes two guide rollers 161 parallel to the opening slot 121, and the guide rollers 161 are rotatable about their own axes. The distance between the guide rollers 161 and the opening slot 121 can be adjusted according to the bending degree of the arc-shaped steel, which is not limited in the embodiment.

[0053] Referring to Figure 4As shown, the guide assembly 16 further comprises a roller sliding block group, the roller sliding block group is provided with two groups, each roller sliding block group comprises two roller sliding blocks 162, the two roller sliding blocks 162 in the same group are arranged in the direction of the open slot 121, and the two ends of the guide roller 161 are respectively inserted into the two roller sliding blocks 162 to realize the rotation connection with the disc 12. Specifically, a bearing is further arranged between the guide roller 161 and the roller sliding block 162.

[0054] With reference to Figure 13 As shown, the welding mechanism 20 comprises a welding robot 21, a welding robot welding machine and a welding robot control cabinet, the welding robot control cabinet is fixed on one side of the welding robot welding machine, a control system for controlling the welding robot 21 is arranged in the welding robot control cabinet, and the welding robot welding machine is fixed on the walking trolley 40 through a support plate 24. The displacement mechanism 10 and the support plate 24 are respectively located on opposite sides of the welding robot 21.

[0055] In order to timely feed, the arc-shaped steel welding device in the embodiment further comprises a carrying mechanism 30, the carrying mechanism 30 is connected with the walking trolley 40 through a support frame 31 and moves together with the walking trolley 40. Figure 13 As shown, the carrying mechanism 30 comprises a carrying robot 32 and a carrying robot control cabinet, and a control system for controlling the carrying robot 32 is arranged in the carrying robot control cabinet.

[0056] With reference to Figure 10 , Figure 13 As shown, the carrying robot 32 comprises a robot main body 321 and a grabbing assembly 322 arranged at the head of the robot main body 321, under the driving of the robot main body 321, the grabbing assembly 322 can grab the end plate and transfer to the end plate positioning plate. In the embodiment, the grabbing assembly 322 comprises an electromagnet, and in other embodiments, the grabbing assembly 322 can also be a vacuum chuck connected with a vacuum generating device.

[0057] In order to reduce the collision between the grabbing assembly 322 and the end plate in the process of grabbing the end plate, damage to the end plate or the grabbing assembly 322, the grabbing assembly 322 and the robot main body 321 are flexibly connected through a first flexible connecting assembly 323, and under the action of the first flexible connecting assembly 323, the grabbing assembly 322 can axially stretch and contract relative to the robot main body 321.

[0058] With reference to Figure 12As shown, the first flexible connecting assembly 323 comprises a mounting seat 3231, a flexible connecting plate 3232, connecting rods 3233, nylon pads 3234, first buffer springs 3235 and first nuts 3236. The mounting seat 3231 is in a U shape, and the grabbing assembly 322 is mounted on the mounting seat 3231. The flexible connecting plate 3232 is disc-shaped and fixed to the head of the robot body 321. The connecting rods 3233 are arranged around the flexible connecting plate 3232. Specifically, one end of the connecting rod 3233 penetrates the mounting seat 3231 and is screwed with the grabbing assembly 322, and the other end penetrates the flexible connecting plate 3232 in the axial direction of the flexible connecting plate 3232. The connecting rod 3233 is sleeved with the nylon pad 3234, the first buffer spring 3235 and the first nut 3236 at both ends thereof. Two nylon pads 3234 are fixed to both sides of the flexible connecting plate 3232. One end of the first buffer spring 3235 is fixedly connected with the nylon pad 3234, and the other end is fixedly connected with the first nut 3236. Under the action of the first buffer spring 3235, the connecting rod 3233 can axially stretch and contract relative to the flexible connecting plate 3232. In other embodiments, the first flexible connecting assembly 323 can also use flexible fillers, etc.

[0059] Reference Figure 1 and Figure 13 As shown, the walking bottom beam 50 comprises a ground rail 51, and a forklift channel steel 52 and a walking chain 53 arranged on the ground rail 51. The forklift channel steel 52 is provided with two, which are respectively located on both sides of the walking chain 53 and parallel to the walking chain 53. The walking trolley 40 comprises a trolley body 41, a fourth driving member 42, a composite roller assembly 43 and a walking sprocket 44. The fourth driving member 42 is arranged on the trolley body 41, and the output end thereof is connected with the walking sprocket 44. The walking sprocket 44 is engaged with the walking chain 53. Under the action of the fourth driving member 42, the trolley body 41 moves in the direction of the walking chain 53. The composite roller assembly 43 is arranged on the opposite sides of the trolley body 41 and is in sliding fit with the forklift channel steel 52, so as to guide and limit the trolley body 41. In this embodiment, the fourth driving member 42 is a walking motor used in cooperation with a speed reducer. The speed reducer is a hollow speed reducer, and the walking sprocket 44 is fixed on the connecting shaft in the hollow of the speed reducer.

[0060] Considering that the walking trolley 40 may vibrate during walking (for example, due to uneven ground), the walking motor is flexibly connected with the walking trolley 40 through a second flexible connecting assembly 45. Reference Figures 10-11As shown, the second flexible connection assembly 45 includes a transition plate 451, a second nut 452, a screw 453, and a second buffer spring 454. The transition plate 451 is fixedly connected to the walking motor, one end of which is hinged to the walking trolley 40, and the other end has a through hole for the screw 453, which is vertically fixed on the walking trolley 40, to pass through. The screw 453 is fitted with the second buffer spring 454 and the second nut 452 at both ends of the through hole, and the second buffer spring 454 abuts against the trolley body 41.

[0061] The following is based on Figure 14 The working process of the arc-shaped steel welding device in this embodiment is described in detail. Taking the curved steel end plate as an example, firstly, according to the length of the curved steel, the fourth driving component 42 is driven, causing the traveling trolley 40 to drive the load (positioning mechanism 10, welding mechanism 20, handling mechanism 30, etc.) installed on it to move in a centered manner. The disc 12 of the positioning mechanism 10 rotates until the opening of the slot 121 faces upward. At this time, the guide roller 161 remains vertical. Under the action of the external conveying structure, the curved steel can make a circular motion around its own center, passing through one side of the positioning component 15 of one positioning mechanism 10 and being conveyed to the other side of the positioning component 15 of the other positioning mechanism 10. The positioning component 15 of the positioning mechanism 10 through which the steel passes for the first time is in the second state, and the positioning component 15 of the positioning mechanism 10 through which the steel passes for the second time is in the first state. After the curved steel abuts against the abutting plate 152 in the positioning component 15 of the positioning mechanism 10 through which it passes for the second time, the positioning component 15 of the positioning mechanism through which the steel passes first is converted to the first state. The two sets of traveling trolleys 40 continue to move towards each other. When both ends of the arc-shaped steel are in contact with the positioning roller 153, the torque of the fourth driving component 42 increases. When the torque of the fourth driving component 42 increases to the preset upper limit, the fourth driving component 42 stops, and the first driving component 133 drives the first connecting rod 136 connected to the first clamping plate 131 to rotate. While the first connecting rod 136 moves towards the opening slot 121, it drives the second connecting rod 137 to move towards the opening slot 121 through the meshing transmission between the driving gear 134 and the driven gear 135, clamping the arc-shaped steel. After the arc-shaped steel is clamped, the second driving component 142 drives the power arm 151 to move, and the displacement mechanism 10 changes from the first state to the second state. At the same time, the disc 12 rotates 90° to make the opening slot 121 horizontal. The handling robot 32 handles the end plate, performs electromagnetic adsorption, and places it on the end face of the arc-shaped steel. It cooperates with the welding robot 21 to perform end plate welding. When one side of the end plate is welded, the disc 12 rotates 180° in the opposite direction to weld the other side of the end plate, achieving high-efficiency welding operation.

[0062] It should be noted that the arc-shaped steel generates friction with the abutting plate 152 during positioning, in order to improve the service life of the abutting plate 152, a wear-resistant layer is arranged on the abutting plate 152 or the abutting plate 152 is directly composed of a wear-resistant material, and the abutting plate 152 is connected with the power arm 151 in a mode including but not limited to screwing, so as to be replaced regularly.

[0063] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the implementation modes of the present application. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present application. It is unnecessary and impossible to enumerate all the implementation modes here. Any modification, equivalent substitution and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A displacement mechanism, characterized by, The utility model relates to a kind of arc-shaped steel positioning and clamping device, including: Base (11); Rotary disc (12) is arranged on the base (11), and the rotary disc (12) is provided with opening slot (121), and the opening slot (121) is communicated with the circumferential surface of the rotary disc (12); Rotary drive assembly (14) is installed on the base (11), and is configured to drive the rotary disc (12) to rotate around its axis; Clamping assembly (13) is installed on the rotary disc (12), and is configured to clamp arc-shaped steel in the middle; Positioning assembly (15) is arranged on the side of the rotary disc (12) away from the opening of the opening slot (121), and includes the first state close to the opening slot (121) to position the end of the arc-shaped steel and the second state away from the opening slot (121); The positioning assembly (15) further includes power arm (151), positioning roller (153), abutment plate (152) and third driving part (154), the first end of the power arm (151) is hinged with the rotary disc (12), the second end of the power arm (151) is connected with the positioning roller (153), the positioning roller (153) can rotate around its axis, the abutment plate (152) is arranged on the side of the power arm (151) facing the opening slot (121) and perpendicular to the opening slot (121), the positioning roller (153) and the third driving part (154) are located on the two sides of the abutment plate (152) respectively, and the output end of the third driving part (154) is connected with the power arm (151), and is configured to drive the power arm (151) to rotate around the first end of the power arm (151).

2. The displacement mechanism according to claim 1, characterized in that The clamping assembly (13) includes first clamping plate (131), second clamping plate (132) and first driving part (133), the first clamping plate (131) and the second clamping plate (132) are respectively located on the two sides of the opening slot (121) and are arranged in parallel with the opening slot (121), and the first driving part (133) is configured to drive the first clamping plate (131) and the second clamping plate (132) to move mutually close or away.

3. The displacement mechanism of claim 2, wherein The clamping assembly (13) further comprises a driving gear (134), a driven gear (135), a first connecting rod (136) and a second connecting rod (137), all of which are rotationally connected with the disc (12), the driving gear (134) is meshingly connected with the driven gear (135), the driving gear (134) and the first connecting rod (136) are respectively rotationally connected with the first end and the second end of the first clamping plate (131), and the first clamping plate (131) is eccentrically connected with the driving gear (134); the driven gear (135) and the second connecting rod (137) are respectively rotationally connected with the first end and the second end of the second clamping plate (132), the second clamping plate (132) is eccentrically connected with the driven gear (135), and the first driving member (133) is rotationally arranged on the disc (12) and has an output end rotationally connected with the first connecting rod (136).

4. The displacement mechanism of claim 2, wherein The clamping assembly (13) further comprises a guard plate (138), one side of the first clamping plate (131) and the second clamping plate (132) is provided with the guard plate (138), the first end of the guard plate (138) is bent away from the other guard plate (138), and the second end of the guard plate (138) is bent towards the other guard plate (138).

5. The displacement mechanism of claim 1, wherein The clamping assembly (13) is located inside the disc (12), and the displacement mechanism (10) further comprises a guide assembly (16) arranged on the side of the disc (12) away from the positioning assembly (15), the guide assembly (16) comprises two guide rollers (161) parallel to the opening groove (121), and the guide rollers (161) can rotate around their own axes.

6. An arc-shaped steel end plate welding apparatus characterized by comprising: The walking bogie (40) is provided with two groups and can move on the walking chassis (50), the welding mechanism (20) and the displacement mechanism (10) are each provided with two groups and are symmetrically arranged on the two groups of walking bogies (40).

7. The arc-shaped steel end plate welding apparatus of claim 6, wherein Further comprising a carrying robot (32), the carrying robot (32) is provided with two groups and is fixedly connected with the two groups of walking bogies (40) to walk with the walking bogies (40).

8. The arc-shaped steel end plate welding apparatus according to claim 7, wherein The carrying robot (32) comprises a robot body (321) and a grabbing assembly (322), the grabbing assembly (322) is used for grabbing an end plate, and the grabbing assembly (322) is flexibly connected with the robot body (321).

9. The arc-shaped steel end plate welding apparatus of claim 6, wherein, The walking trolley (40) comprises a trolley body (41), a fourth driving member (42) and a walking sprocket (44), the walking bottom beam (50) is provided with a walking chain (53) matched with the walking sprocket (44), the output end of the fourth driving member (42) is connected with the walking sprocket (44), and the fourth driving member (42) is flexibly connected with the trolley body (41).

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